Fastest lane determination algorithm under traffic jam

ABSTRACT

A method, apparatus, and system for determining average lane travel speeds is disclosed. A plurality of vehicles traveling in a same direction as the ADV in a plurality of lanes are identified. Over a first time period, the plurality of vehicles is tracked. At least a first quantity of representative vehicles within the plurality of vehicles that are representative of vehicles traveling in the lane over the first time period are identified. For each of the plurality of lanes, an average speed over the first time period of the representative vehicles associated with the lane is determined. A trajectory is planned for the ADV, wherein the planned trajectory moves toward a lane whose representative vehicles have a fastest average speed. Thereafter, control signals are generated to control operations of the ADV based on the planned trajectory.

TECHNICAL FIELD

Embodiments of the present disclosure relate generally to operating autonomous vehicles. More particularly, embodiments of the disclosure relate to determining an average travel speed for each lane.

BACKGROUND

Vehicles operating in an autonomous mode (e.g., driverless) can relieve occupants, especially the driver, from some driving-related responsibilities. When operating in an autonomous mode, the vehicle can navigate to various locations using onboard sensors, allowing the vehicle to travel with minimal human interaction or in some cases without any passengers.

With heavy road traffic, it can be challenging to identify the lane that has the faster average travel speed. Weaving through different lanes in order to find the best lane may further exacerbate the congestion.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the disclosure are illustrated by way of example and not limitation in the figures of the accompanying drawings in which like references indicate similar elements.

FIG. 1 is a block diagram illustrating a networked system according to one embodiment.

FIG. 2 is a block diagram illustrating an example of an autonomous vehicle according to one embodiment.

FIGS. 3A-3B are block diagrams illustrating an example of a perception and planning system used with an autonomous vehicle according to one embodiment.

FIG. 4 is a diagram illustrating an environment in which embodiments of the disclosure may be practiced.

FIG. 5 is a flowchart illustrating an example method for determining average lane travel speeds according to one embodiment.

FIG. 6 is a block diagram illustrating various modules that can be used with embodiments of the disclosure.

FIG. 7 shows a data structure for tracking vehicle data according to one embodiment.

DETAILED DESCRIPTION

Various embodiments and aspects of the disclosures will be described with reference to details discussed below, and the accompanying drawings will illustrate the various embodiments. The following description and drawings are illustrative of the disclosure and are not to be construed as limiting the disclosure. Numerous specific details are described to provide a thorough understanding of various embodiments of the present disclosure. However, in certain instances, well-known or conventional details are not described in order to provide a concise discussion of embodiments of the present disclosures.

Reference in the specification to “one embodiment” or “an embodiment” means that a particular feature, structure, or characteristic described in conjunction with the embodiment can be included in at least one embodiment of the disclosure. The appearances of the phrase “in one embodiment” in various places in the specification do not necessarily all refer to the same embodiment.

According to some embodiments, an average travel speed associated with each lane can be determined based on the perception of vehicles traveling in each of the lanes. A lane associated with the fastest travel speed can be identified, and an autonomous driving vehicle (ADV) can take advantage of the information by changing into the fastest lane.

In particular, in one embodiment, at a first time instant and within a sensing range of an autonomous driving vehicle (ADV), a plurality of vehicles traveling in a same direction as the ADV in a plurality of lanes are identified. Over a first time period from the first time instant to a second time instant, the plurality of vehicles is tracked. The tracking comprises determining at each perception cycle and for each of the plurality of vehicles, a lane in which the vehicle is traveling and a location within the lane in which the vehicle is traveling. Each perception cycle is associated with a time instant. After the second time instant and for each of the plurality of lanes, at least a first quantity of representative vehicles within the plurality of vehicles that are representative of vehicles traveling in the lane over the first time period are identified. For each of the plurality of lanes, an average speed over the first time period of the representative vehicles associated with the lane is determined. A trajectory is planned for the ADV based on the average speed of the representative vehicles associated with each of the plurality of lanes. The planned trajectory moves toward a lane whose representative vehicles have a fastest average speed. Thereafter, control signals are generated to control operations of the ADV based on the planned trajectory.

In one embodiment, the second time instant is 2 minutes after the first time instant, and at least 5 representative vehicles are identified for each of the lanes. In one embodiment, a representative vehicle associated with a lane satisfies two conditions: 1) a total time during which the representative vehicle can be tracked over the first time period meets or exceeds a threshold, and 2) the representative vehicle is traveling in the associated lane at every perception cycle in which the representative vehicle can be tracked.

In one embodiment, the threshold equals to 90% of the first time period. In one embodiment, an average speed of a representative vehicle is determined based on a first tracking result of the representative vehicle at a first perception cycle and a second tracking result of the representative vehicle at a second perception cycle, the first perception cycle being a perception cycle closest in time to the first time instant during which the representative vehicle can be tracked, the second perception cycle being a perception cycle closest in time to the second time instant during which the representative vehicle can be tracked.

In one embodiment, the first perception cycle is associated with a third time instant. The second perception cycle is associated with a fourth time instant. The first tracking result of the representative vehicle comprises a first location of the representative vehicle. The second tracking result of the representative vehicle comprises a second location of the representative vehicle. The average speed of the representative vehicle is determined as a distance between the first location and the second location divided by a second time period from the third time instant to the fourth time instant. In one embodiment, an average speed over the first time period of representative vehicles is not determined for a lane when fewer than the first quantity of representative vehicles can be identified for the lane.

FIG. 1 is a block diagram illustrating an autonomous vehicle network configuration according to one embodiment of the disclosure. Referring to FIG. 1 , network configuration 100 includes autonomous vehicle 101 that may be communicatively coupled to one or more servers 103-104 over a network 102. Although there is one autonomous vehicle shown, multiple autonomous vehicles can be coupled to each other and/or coupled to servers 103-104 over network 102. Network 102 may be any type of networks such as a local area network (LAN), a wide area network (WAN) such as the Internet, a cellular network, a satellite network, or a combination thereof, wired or wireless. Server(s) 103-104 may be any kind of servers or a cluster of servers, such as Web or cloud servers, application servers, backend servers, or a combination thereof. Servers 103-104 may be data analytics servers, content servers, traffic information servers, map and point of interest (MPOI) servers, or location servers, etc.

An autonomous vehicle refers to a vehicle that can be configured to in an autonomous mode in which the vehicle navigates through an environment with little or no input from a driver. Such an autonomous vehicle can include a sensor system having one or more sensors that are configured to detect information about the environment in which the vehicle operates. The vehicle and its associated controller(s) use the detected information to navigate through the environment. Autonomous vehicle 101 can operate in a manual mode, a full autonomous mode, or a partial autonomous mode.

In one embodiment, autonomous vehicle 101 includes, but is not limited to, perception and planning system 110, vehicle control system 111, wireless communication system 112, user interface system 113, and sensor system 115. Autonomous vehicle 101 may further include certain common components included in ordinary vehicles, such as, an engine, wheels, steering wheel, transmission, etc., which may be controlled by vehicle control system 111 and/or perception and planning system 110 using a variety of communication signals and/or commands, such as, for example, acceleration signals or commands, deceleration signals or commands, steering signals or commands, braking signals or commands, etc.

Components 110-113, and 115 may be communicatively coupled to each other via an interconnect, a bus, a network, or a combination thereof. For example, components 110-113, and 115 may be communicatively coupled to each other via a controller area network (CAN) bus. A CAN bus is a vehicle bus standard designed to allow microcontrollers and devices to communicate with each other in applications without a host computer. It is a message-based protocol, designed originally for multiplex electrical wiring within automobiles, but is also used in many other contexts.

Referring now to FIG. 2 , in one embodiment, sensor system 115 includes, but it is not limited to, one or more cameras 211, global positioning system (GPS) unit 212, inertial measurement unit (IMU) 213, radar unit 214, and a light detection and range (LIDAR) unit 215. GPS system 212 may include a transceiver operable to provide information regarding the position of the autonomous vehicle. IMU unit 213 may sense position and orientation changes of the autonomous vehicle based on inertial acceleration. Radar unit 214 may represent a system that utilizes radio signals to sense objects within the local environment of the autonomous vehicle. In some embodiments, in addition to sensing objects, radar unit 214 may additionally sense the speed and/or heading of the objects. LIDAR unit 215 may sense objects in the environment in which the autonomous vehicle is located using lasers. LIDAR unit 215 could include one or more laser sources, a laser scanner, and one or more detectors, among other system components. Cameras 211 may include one or more devices to capture images of the environment surrounding the autonomous vehicle. Cameras 211 may be still cameras and/or video cameras. A camera may be mechanically movable, for example, by mounting the camera on a rotating and/or tilting a platform.

Sensor system 115 may further include other sensors, such as, a sonar sensor, an infrared sensor, a steering sensor, a throttle sensor, a braking sensor, and an audio sensor (e.g., microphone). An audio sensor may be configured to capture sound from the environment surrounding the autonomous vehicle. A steering sensor may be configured to sense the steering angle of a steering wheel, wheels of the vehicle, or a combination thereof. A throttle sensor and a braking sensor sense the throttle position and braking position of the vehicle, respectively. In some situations, a throttle sensor and a braking sensor may be integrated as an integrated throttle/braking sensor.

In one embodiment, vehicle control system 111 includes, but is not limited to, steering unit 201, throttle unit 202 (also referred to as an acceleration unit), and braking unit 203. Steering unit 201 is to adjust the direction or heading of the vehicle. Throttle unit 202 is to control the speed of the motor or engine that in turn controls the speed and acceleration of the vehicle. Braking unit 203 is to decelerate the vehicle by providing friction to slow the wheels or tires of the vehicle. Note that the components as shown in FIG. 2 may be implemented in hardware, software, or a combination thereof.

Referring back to FIG. 1 , wireless communication system 112 is to allow communication between autonomous vehicle 101 and external systems, such as devices, sensors, other vehicles, etc. For example, wireless communication system 112 can wirelessly communicate with one or more devices directly or via a communication network, such as servers 103-104 over network 102. Wireless communication system 112 can use any cellular communication network or a wireless local area network (WLAN), e.g., using WiFi to communicate with another component or system. Wireless communication system 112 could communicate directly with a device (e.g., a mobile device of a passenger, a display device, a speaker within vehicle 101), for example, using an infrared link, Bluetooth, etc. User interface system 113 may be part of peripheral devices implemented within vehicle 101 including, for example, a keyboard, a touch screen display device, a microphone, and a speaker, etc.

Some or all of the functions of autonomous vehicle 101 may be controlled or managed by perception and planning system 110, especially when operating in an autonomous driving mode. Perception and planning system 110 includes the necessary hardware (e.g., processor(s), memory, storage) and software (e.g., operating system, planning and routing programs) to receive information from sensor system 115, control system 111, wireless communication system 112, and/or user interface system 113, process the received information, plan a route or path from a starting point to a destination point, and then drive vehicle 101 based on the planning and control information. Alternatively, perception and planning system 110 may be integrated with vehicle control system 111.

For example, a user as a passenger may specify a starting location and a destination of a trip, for example, via a user interface. Perception and planning system 110 obtains the trip related data. For example, perception and planning system 110 may obtain location and route information from an MPOI server, which may be a part of servers 103-104. The location server provides location services and the MPOI server provides map services and the POIs of certain locations. Alternatively, such location and MPOI information may be cached locally in a persistent storage device of perception and planning system 110.

While autonomous vehicle 101 is moving along the route, perception and planning system 110 may also obtain real-time traffic information from a traffic information system or server (TIS). Note that servers 103-104 may be operated by a third party entity. Alternatively, the functionalities of servers 103-104 may be integrated with perception and planning system 110. Based on the real-time traffic information, MPOI information, and location information, as well as real-time local environment data detected or sensed by sensor system 115 (e.g., obstacles, objects, nearby vehicles), perception and planning system 110 can plan an optimal route and drive vehicle 101, for example, via control system 111, according to the planned route to reach the specified destination safely and efficiently.

Server 103 may be a data analytics system to perform data analytics services for a variety of clients. In one embodiment, data analytics system 103 includes data collector 121 and machine learning engine 122. Data collector 121 collects driving statistics 123 from a variety of vehicles, either autonomous vehicles or regular vehicles driven by human drivers. Driving statistics 123 include information indicating the driving commands (e.g., throttle, brake, steering commands) issued and responses of the vehicles (e.g., speeds, accelerations, decelerations, directions) captured by sensors of the vehicles at different points in time. Driving statistics 123 may further include information describing the driving environments at different points in time, such as, for example, routes (including starting and destination locations), MPOIs, road conditions, weather conditions, etc.

Based on driving statistics 123, machine learning engine 122 generates or trains a set of rules, algorithms, and/or predictive models 124 for a variety of purposes. Algorithms 124 include an algorithm for tracking vehicles in different lanes for the purpose of possible lane changing during operating an ADV. Algorithms 124 can then be uploaded on ADVs to be utilized during autonomous driving in real-time.

FIGS. 3A and 3B are block diagrams illustrating an example of a perception and planning system used with an autonomous vehicle according to one embodiment. System 300 may be implemented as a part of autonomous vehicle 101 of FIG. 1 including, but is not limited to, perception and planning system 110, control system 111, and sensor system 115. Referring to FIGS. 3A-3B, perception and planning system 110 includes, but is not limited to, localization module 301, perception module 302, prediction module 303, decision module 304, planning module 305, control module 306, routing module 307, lane speed detection module 308.

Some or all of modules 301-308 may be implemented in software, hardware, or a combination thereof. For example, these modules may be installed in persistent storage device 352, loaded into memory 351, and executed by one or more processors (not shown). Note that some or all of these modules may be communicatively coupled to or integrated with some or all modules of vehicle control system 111 of FIG. 2 . Some of modules 301-308 may be integrated together as an integrated module.

Localization module 301 determines a current location of autonomous vehicle 300 (e.g., leveraging GPS unit 212) and manages any data related to a trip or route of a user. Localization module 301 (also referred to as a map and route module) manages any data related to a trip or route of a user. A user may log in and specify a starting location and a destination of a trip, for example, via a user interface. Localization module 301 communicates with other components of autonomous vehicle 300, such as map and route information 311, to obtain the trip related data. For example, localization module 301 may obtain location and route information from a location server and a map and POI (MPOI) server. A location server provides location services and an MPOI server provides map services and the POIs of certain locations, which may be cached as part of map and route information 311. While autonomous vehicle 300 is moving along the route, localization module 301 may also obtain real-time traffic information from a traffic information system or server.

Based on the sensor data provided by sensor system 115 and localization information obtained by localization module 301, a perception of the surrounding environment is determined by perception module 302. The perception information may represent what an ordinary driver would perceive surrounding a vehicle in which the driver is driving. The perception can include the lane configuration, traffic light signals, a relative position of another vehicle, a pedestrian, a building, crosswalk, or other traffic related signs (e.g., stop signs, yield signs), etc., for example, in a form of an object. The lane configuration includes information describing a lane or lanes, such as, for example, a shape of the lane (e.g., straight or curvature), a width of the lane, how many lanes in a road, one-way or two-way lane, merging or splitting lanes, exiting lane, etc.

Perception module 302 may include a computer vision system or functionalities of a computer vision system to process and analyze images captured by one or more cameras in order to identify objects and/or features in the environment of autonomous vehicle. The objects can include traffic signals, road way boundaries, other vehicles, pedestrians, and/or obstacles, etc. The computer vision system may use an object recognition algorithm, video tracking, and other computer vision techniques. In some embodiments, the computer vision system can map an environment, track objects, and estimate the speed of objects, etc. Perception module 302 can also detect objects based on other sensors data provided by other sensors such as a radar and/or LIDAR.

For each of the objects, prediction module 303 predicts what the object will behave under the circumstances. The prediction is performed based on the perception data perceiving the driving environment at the point in time in view of a set of map/route information 311 and traffic rules 312. For example, if the object is a vehicle at an opposing direction and the current driving environment includes an intersection, prediction module 303 will predict whether the vehicle will likely move straight forward or make a turn. If the perception data indicates that the intersection has no traffic light, prediction module 303 may predict that the vehicle may have to fully stop prior to enter the intersection. If the perception data indicates that the vehicle is currently at a left-turn only lane or a right-turn only lane, prediction module 303 may predict that the vehicle will more likely make a left turn or right turn respectively.

For each of the objects, decision module 304 makes a decision regarding how to handle the object. For example, for a particular object (e.g., another vehicle in a crossing route) as well as its metadata describing the object (e.g., a speed, direction, turning angle), decision module 304 decides how to encounter the object (e.g., overtake, yield, stop, pass). Decision module 304 may make such decisions according to a set of rules such as traffic rules or driving rules 312, which may be stored in persistent storage device 352.

Routing module 307 is configured to provide one or more routes or paths from a starting point to a destination point. For a given trip from a start location to a destination location, for example, received from a user, routing module 307 obtains route and map information 311 and determines all possible routes or paths from the starting location to reach the destination location. Routing module 307 may generate a reference line in a form of a topographic map for each of the routes it determines from the starting location to reach the destination location. A reference line refers to an ideal route or path without any interference from others such as other vehicles, obstacles, or traffic condition. That is, if there is no other vehicle, pedestrians, or obstacles on the road, an ADV should exactly or closely follows the reference line. The topographic maps are then provided to decision module 304 and/or planning module 305. Decision module 304 and/or planning module 305 examine all of the possible routes to select and modify one of the most optimal routes in view of other data provided by other modules such as traffic conditions from localization module 301, driving environment perceived by perception module 302, and traffic condition predicted by prediction module 303. The actual path or route for controlling the ADV may be close to or different from the reference line provided by routing module 307 dependent upon the specific driving environment at the point in time.

Based on a decision for each of the objects perceived, planning module 305 plans a path or route for the autonomous vehicle, as well as driving parameters (e.g., distance, speed, and/or turning angle), using a reference line provided by routing module 307 as a basis. That is, for a given object, decision module 304 decides what to do with the object, while planning module 305 determines how to do it. For example, for a given object, decision module 304 may decide to pass the object, while planning module 305 may determine whether to pass on the left side or right side of the object. Planning and control data is generated by planning module 305 including information describing how vehicle 300 would move in a next moving cycle (e.g., next route/path segment). For example, the planning and control data may instruct vehicle 300 to move 10 meters at a speed of 30 mile per hour (mph), then change to a right lane at the speed of 25 mph.

Based on the planning and control data, control module 306 controls and drives the autonomous vehicle, by sending proper commands or signals to vehicle control system 111, according to a route or path defined by the planning and control data. The planning and control data include sufficient information to drive the vehicle from a first point to a second point of a route or path using appropriate vehicle settings or driving parameters (e.g., throttle, braking, steering commands) at different points in time along the path or route.

In one embodiment, the planning phase is performed in a number of planning cycles, also referred to as driving cycles, such as, for example, in every time interval of 100 milliseconds (ms). For each of the planning cycles or driving cycles, one or more control commands will be issued based on the planning and control data. That is, for every 100 ms, planning module 305 plans a next route segment or path segment, for example, including a target position and the time required for the ADV to reach the target position. Alternatively, planning module 305 may further specify the specific speed, direction, and/or steering angle, etc. In one embodiment, planning module 305 plans a route segment or path segment for the next predetermined period of time such as 5 seconds. For each planning cycle, planning module 305 plans a target position for the current cycle (e.g., next 5 seconds) based on a target position planned in a previous cycle. Control module 306 then generates one or more control commands (e.g., throttle, brake, steering control commands) based on the planning and control data of the current cycle.

Note that decision module 304 and planning module 305 may be integrated as an integrated module. Decision module 304/planning module 305 may include a navigation system or functionalities of a navigation system to determine a driving path for the autonomous vehicle. For example, the navigation system may determine a series of speeds and directional headings to affect movement of the autonomous vehicle along a path that substantially avoids perceived obstacles while generally advancing the autonomous vehicle along a roadway-based path leading to an ultimate destination. The destination may be set according to user inputs via user interface system 113. The navigation system may update the driving path dynamically while the autonomous vehicle is in operation. The navigation system can incorporate data from a GPS system and one or more maps so as to determine the driving path for the autonomous vehicle.

In one embodiment, lane speed detection module 308 is configured to determining the traffic flow patterns of the lanes adjacent to the current lane in which the ADV is driving. The lane speed detection module 308 may be implemented as a part of planning module 305. In one embodiment, lane speed detection module 308 is configured to track each of the vehicles traveling in the lanes for a period of time (e.g., two minutes). For each of the planning cycles, the lane speed detection module 308 records, for each vehicle, which lane the vehicle is travelling and its location. The recorded data may be stored in persistent storage device 352 as a part of vehicle tracking data 313.

Based on the tracking data, periodically, lane speed detection module 308 identifies a number of vehicles (e.g., five vehicles) as representative vehicles that consistently travelling in the same lane over the period of time. Based on the representative vehicles, an average speed of the vehicles is calculated to represent the lane speed of the lane. A fast moving lane can then be identified based on the average speed of the lane. Such information can be utilized by the system to determine whether it is time to change lane or alternatively, a passenger of the ADV may be notified.

Referring to FIG. 4 , a diagram illustrating an environment 400 in which embodiments of the disclosure may be practiced is shown. An ADV 401 is traveling on a multi-lane roadway in a first direction. Other vehicles 402 are traveling in the same direction as the ADV 401 in the various lanes of the roadway. Based on embodiments described herein, ADV 401 may determine an average travel speed for each of the lanes (left, center, right, etc.) based on the perception of the other vehicles 402. In one embodiment, the ADV 401 may change into the lane determined as being associated with the fastest average travel speed. FIG. 7 shows an example of vehicle tracking data 313 that is recorded by lane speed detection module 308. Referring to FIG. 7 , table 700 is maintained for each of the vehicles perceived by the ADV. For each recording time (e.g., planning cycle), the lane in which the corresponding vehicle is travelling and its location are recorded. Based on the information stored in table 700, it can be determined how long the corresponding vehicle stays within and its average speed.

Referring to FIG. 5 , a flowchart illustrating an example method 500 for determining average lane travel speeds according to one embodiment is shown. The method 500 may be implemented in hardware, software, or a combination thereof. At block 510, at a first time instant and within a sensing range of an autonomous driving vehicle (ADV), a plurality of vehicles traveling in a same direction as the ADV in a plurality of lanes are identified. At block 520, over a first time period from the first time instant to a second time instant, the plurality of vehicles is tracked. The tracking comprises determining at each perception cycle and for each of the plurality of vehicles, a lane in which the vehicle is traveling and a location within the lane in which the vehicle is traveling. Each perception cycle is associated with a time instant. In one embodiment, the second time instant is 2 minutes after the first time instant (i.e., the first time period is 2 minutes long). It should be appreciated that the length of the first time period does not limit the disclosure.

At block 530, after the second time instant and for each of the plurality of lanes, at least a first quantity of representative vehicles within the plurality of vehicles that are representative of vehicles traveling in the lane over the first time period are identified. In one embodiment, at least 5 representative vehicles are identified for each of the lanes. In one embodiment, a representative vehicle associated with a lane needs to satisfy two conditions: 1) a total time during which the representative vehicle can be tracked over the first time period meets or exceeds a threshold, and 2) the representative vehicle is traveling in the associated lane at every perception cycle in which the representative vehicle can be tracked. In one embodiment, a total time during which the representative vehicle can be tracked over the first time period should meet or exceed 90% of the first time period. It should be appreciated that the actual threshold/percentage does not limit the disclosure

At block 540, for each of the plurality of lanes, an average speed over the first time period of the representative vehicles associated with the lane is determined. In one embodiment, an average speed of a representative vehicle is determined based on a first tracking result of the representative vehicle at a first perception cycle and a second tracking result of the representative vehicle at a second perception cycle, the first perception cycle being a perception cycle closest in time to (and after) the first time instant during which the representative vehicle can be tracked, the second perception cycle being a perception cycle closest in time to (and before) the second time instant during which the representative vehicle can be tracked.

In one embodiment, the first perception cycle is associated with a third time instant. The second perception cycle is associated with a fourth time instant. The first tracking result of the representative vehicle comprises a first location of the representative vehicle. The second tracking result of the representative vehicle comprises a second location of the representative vehicle. The average speed of the representative vehicle is determined as a distance between the first location and the second location divided by a second time period from the third time instant to the fourth time instant.

In one embodiment, an average speed over the first time period of representative vehicles is not determined for a lane when fewer than the first quantity of representative vehicles can be identified for the lane.

At block 550, a trajectory is planned for the ADV based on the average speed of the representative vehicles associated with each of the plurality of lanes. The planned trajectory moves toward a lane whose representative vehicles have a fastest average speed. Thereafter, at block 560, control signals are generated to control operations of the ADV based on the planned trajectory.

It should be appreciated that method 500 may be repeated periodically or from time to time to take into account the change in traffic conditions including the average lane travel speeds.

Referring to FIG. 6 , a block diagram 600 illustrating various modules that can be used with embodiments of the disclosure is shown. The modules can be implemented in hardware, software, or a combination thereof. A vehicle identifying module 610 identifies, at a first time instant and within a sensing range of an autonomous driving vehicle (ADV), a plurality of vehicles traveling in a same direction as the ADV in a plurality of lanes. A vehicle tracking module 620 tracks, over a first time period from the first time instant to a second time instant, the plurality of vehicles, comprising determining at each perception cycle and for each of the plurality of vehicles, a lane in which the vehicle is traveling and a location within the lane in which the vehicle is traveling. Each perception cycle is associated with a time instant. A representative vehicle identifying module 630 identifies, after the second time instant and for each of the plurality of lanes, at least a first quantity of representative vehicles within the plurality of vehicles that are representative of vehicles traveling in the lane over the first time period. An average lane speed determination module 640 determines, for each of the plurality of lanes, an average speed over the first time period of the representative vehicles associated with the lane. A planning module 650 plans a trajectory for the ADV based on the average speed of the representative vehicles associated with each of the plurality of lanes. The planned trajectory moves toward a lane whose representative vehicles have a fastest average speed. A control module 660 generates control signals to control operations of the ADV based on the planned trajectory.

Note that some or all of the components as shown and described above may be implemented in software, hardware, or a combination thereof. For example, such components can be implemented as software installed and stored in a persistent storage device, which can be loaded and executed in a memory by a processor (not shown) to carry out the processes or operations described throughout this application. Alternatively, such components can be implemented as executable code programmed or embedded into dedicated hardware such as an integrated circuit (e.g., an application specific IC or ASIC), a digital signal processor (DSP), or a field programmable gate array (FPGA), which can be accessed via a corresponding driver and/or operating system from an application. Furthermore, such components can be implemented as specific hardware logic in a processor or processor core as part of an instruction set accessible by a software component via one or more specific instructions.

Some portions of the preceding detailed descriptions have been presented in terms of algorithms and symbolic representations of operations on data bits within a computer memory. These algorithmic descriptions and representations are the ways used by those skilled in the data processing arts to most effectively convey the substance of their work to others skilled in the art. An algorithm is here, and generally, conceived to be a self-consistent sequence of operations leading to a desired result. The operations are those requiring physical manipulations of physical quantities.

It should be borne in mind, however, that all of these and similar terms are to be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities. Unless specifically stated otherwise as apparent from the above discussion, it is appreciated that throughout the description, discussions utilizing terms such as those set forth in the claims below, refer to the action and processes of a computer system, or similar electronic computing device, that manipulates and transforms data represented as physical (electronic) quantities within the computer system's registers and memories into other data similarly represented as physical quantities within the computer system memories or registers or other such information storage, transmission or display devices.

Embodiments of the disclosure also relate to an apparatus for performing the operations herein. Such a computer program is stored in a non-transitory computer readable medium. A machine-readable medium includes any mechanism for storing information in a form readable by a machine (e.g., a computer). For example, a machine-readable (e.g., computer-readable) medium includes a machine (e.g., a computer) readable storage medium (e.g., read only memory (“ROM”), random access memory (“RAM”), magnetic disk storage media, optical storage media, flash memory devices).

The processes or methods depicted in the preceding figures may be performed by processing logic that comprises hardware (e.g. circuitry, dedicated logic, etc.), software (e.g., embodied on a non-transitory computer readable medium), or a combination of both. Although the processes or methods are described above in terms of some sequential operations, it should be appreciated that some of the operations described may be performed in a different order. Moreover, some operations may be performed in parallel rather than sequentially.

Embodiments of the present disclosure are not described with reference to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of embodiments of the disclosure as described herein.

In the foregoing specification, embodiments of the disclosure have been described with reference to specific exemplary embodiments thereof. It will be evident that various modifications may be made thereto without departing from the broader spirit and scope of the disclosure as set forth in the following claims. The specification and drawings are, accordingly, to be regarded in an illustrative sense rather than a restrictive sense. 

What is claimed is:
 1. A computer-implemented method for operating an autonomous driving vehicle (ADV), the method comprising: tracking, by a processor, over a first time period from a first time instant to a second time instant, a plurality of vehicles traveling in a plurality of lanes, including determining at each perception cycle and for each of the plurality of vehicles, a lane in which the vehicle is traveling and a location within the lane in which the vehicle is traveling; identifying, by the processor, after the second time instant and for each of the plurality of lanes, a first quantity of representative vehicles within the plurality of vehicles that are representative of vehicles traveling in a first lane over the first time period and a second quantity of representative vehicles within the plurality of vehicles that are representative of vehicles traveling in a second lane over the first time period, wherein the first lane and the second lane are different lanes; determining, by the processor, the first quantity of representative vehicles traveling in the first lane over the first time period is equal to or exceeds a threshold, wherein the threshold is 5 representative vehicles; in response to determining the first quantity of representative vehicles traveling in the same first lane over the first time period is equal to or exceeds the threshold, determining, by the processor, a first average speed over the first time period of the representative vehicles associated with the first lane of the plurality of lanes; determining, by the processor, the second quantity of representative vehicles traveling in the second lane over the first time period is equal to or exceeds the threshold; in response to determining the second quantity of representative vehicles traveling in the second lane over the first time period is equal to or exceeds the threshold, determining, by the processor, a second average speed over the first time period of the representative vehicles associated with the second lane of the plurality of lanes; determining, by the processor, for each of the plurality of lanes including the first lane and the second lane, each average speed including the first average speed and the second average speed over the first time period of the representative vehicles associated with each of the plurality of lanes; identifying, by the processor, a target lane with a fastest average speed based on each average speed of the representative vehicles associated with each of the plurality of lanes for possible lane changing; planning, by the processor, a trajectory for the ADV to change into the target lane with the fastest average speed; and controlling, by the processor, the ADV to navigate according to the trajectory.
 2. The method of claim 1, wherein the second time instant is 2 minutes after the first time instant.
 3. The method of claim 1, wherein a representative vehicle associated with a lane satisfies: 1) a total time during which the representative vehicle can be tracked over the first time period meets or exceeds a threshold, and 2) the representative vehicle is traveling in the associated lane at every perception cycle in which the representative vehicle can be tracked.
 4. The method of claim 3, wherein the threshold equals to 90% of the first time period.
 5. The method of claim 1, wherein an average speed of a representative vehicle is determined based on a first tracking result of the representative vehicle at a first perception cycle and a second tracking result of the representative vehicle at a second perception cycle, the first perception cycle being a perception cycle closest in time to the first time instant during which the representative vehicle can be tracked, the second perception cycle being a perception cycle closest in time to the second time instant during which the representative vehicle can be tracked.
 6. The method of claim 5, wherein the first perception cycle is associated with a third time instant, the second perception cycle is associated with a fourth time instant, the first tracking result of the representative vehicle comprises a first location of the representative vehicle, and the second tracking result of the representative vehicle comprises a second location of the representative vehicle, and wherein the average speed of the representative vehicle is determined as a distance between the first location and the second location divided by a second time period from the third time instant to the fourth time instant.
 7. The method of claim 1, wherein an average speed over the first time period of representative vehicles is not determined fora lane when fewer than the first quantity of representative vehicles can be identified for the lane.
 8. A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations of operating an autonomous driving vehicle (ADV), the operations comprising: tracking, over a first time period from a first time instant to a second time instant, a plurality of vehicles traveling in a plurality of lanes, including determining at each perception cycle and for each of the plurality of vehicles, a lane in which the vehicle is traveling and a location within the lane in which the vehicle is traveling; identifying, after the second time instant and for each of the plurality of lanes, a first quantity of representative vehicles within the plurality of vehicles that are representative of vehicles traveling in a first lane over the first time period and a second quantity of representative vehicles within the plurality of vehicles that are representative of vehicles traveling in a second lane over the first time period, wherein the first lane and the second lane are different lanes; determining, by the processor, the first quantity of representative vehicles traveling in the first lane over the first time period is equal to or exceeds a threshold, wherein the threshold is 5 representative vehicles; in response to determining the first quantity of representative vehicles traveling in the same first lane over the first time period is equal to or exceeds the threshold, determining, by the processor, a first average speed over the first time period of the representative vehicles associated with the first lane of the plurality of lanes; determining, by the processor, the second quantity of representative vehicles traveling in the second lane over the first time period is equal to or exceeds the threshold; in response to determining the second quantity of representative vehicles traveling in the second lane over the first time period is equal to or exceeds the threshold, determining, by the processor, a second average speed over the first time period of the representative vehicles associated with the second lane of the plurality of lanes; determining, for each of the plurality of lanes including the first lane and the second lane, each average speed including the first average speed and the second average speed over the first time period of the representative vehicles associated with each of the plurality of lanes; identifying, by the processor, a target lane with a fastest average speed based on each average speed of the representative vehicles associated with each of the plurality of lanes for possible lane changing planning a trajectory for the ADV to change into the target lane with the fastest average speed; and controlling, by the processor, the ADV to navigate according to the trajectory.
 9. The non-transitory machine-readable medium of claim 8, wherein the second time instant is 2 minutes after the first time instant.
 10. The non-transitory machine-readable medium of claim 8, wherein a representative vehicle associated with a lane satisfies: 1) a total time during which the representative vehicle can be tracked over the first time period meets or exceeds a threshold, and 2) the representative vehicle is traveling in the associated lane at every perception cycle in which the representative vehicle can be tracked.
 11. The non-transitory machine-readable medium of claim 10, wherein the threshold equals to 90% of the first time period.
 12. The non-transitory machine-readable medium of claim 8, wherein an average speed of a representative vehicle is determined based on a first tracking result of the representative vehicle at a first perception cycle and a second tracking result of the representative vehicle at a second perception cycle, the first perception cycle being a perception cycle closest in time to the first time instant during which the representative vehicle can be tracked, the second perception cycle being a perception cycle closest in time to the second time instant during which the representative vehicle can be tracked.
 13. The non-transitory machine-readable medium of claim 12, wherein the first perception cycle is associated with a third time instant, the second perception cycle is associated with a fourth time instant, the first tracking result of the representative vehicle comprises a first location of the representative vehicle, and the second tracking result of the representative vehicle comprises a second location of the representative vehicle, and wherein the average speed of the representative vehicle is determined as a distance between the first location and the second location divided by a second time period from the third time instant to the fourth time instant.
 14. The non-transitory machine-readable medium of claim 8, wherein an average speed over the first time period of representative vehicles is not determined for a lane when fewer than the first quantity of representative vehicles can be identified for the lane.
 15. A data processing system, comprising: a processor; and a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations of operating an autonomous driving vehicle (ADV), the operations including tracking, over a first time period from a first time instant to a second time instant, a plurality of vehicles traveling in a plurality of lanes, including determining at each perception cycle and for each of the plurality of vehicles, a lane in which the vehicle is traveling and a location within the lane in which the vehicle is traveling, identifying, after the second time instant and for each of the plurality of lanes, a first quantity of representative vehicles within the plurality of vehicles that are representative of vehicles traveling in a first lane over the first time period and a second quantity of representative vehicles within the plurality of vehicles that are representative of vehicles traveling in a second lane over the first time period, wherein the first lane and the second lane are different lanes, determining, by the processor, the first quantity of representative vehicles traveling in the first lane over the first time period is equal to or exceeds a threshold, wherein the threshold is 5 representative vehicles; in response to determining the first quantity of representative vehicles traveling in the first lane over the first time period is equal to or exceeds the threshold, determining, by the processor, a first average speed over the first time period of the representative vehicles associated with the first lane of the plurality of lanes; determining, by the processor, the second quantity of representative vehicles traveling in the second lane over the first time period is equal to or exceeds the threshold; in response to determining the second quantity of representative vehicles traveling in the second lane over the first time period is equal to or exceeds the threshold, determining, by the processor, a second average speed over the first time period of the representative vehicles associated with the second lane of the plurality of lanes; determining, for each of the plurality of lanes including the first lane and the second lane, each average speed including the first average speed and the second average speed over the first time period of the representative vehicles associated with each of the plurality of lanes, identifying, by the processor, a target lane with a fastest average speed based on each average speed of the representative vehicles associated with each of the plurality of lanes for possible lane changing; planning a trajectory for the ADV to change into the target lane with the fastest average speed, and controlling, by the processor, the ADV to navigate according to the trajectory.
 16. The data processing system of claim 15, wherein the second time instant is 2 minutes after the first time instant.
 17. The data processing system of claim 15, wherein a representative vehicle associated with a lane satisfies: 1) a total time during which the representative vehicle can be tracked over the first time period meets or exceeds a threshold, and 2) the representative vehicle is traveling in the associated lane at every perception cycle in which the representative vehicle can be tracked.
 18. The data processing system of claim 17, wherein the threshold equals to 90% of the first time period.
 19. The data processing system of claim 15, wherein an average speed of a representative vehicle is determined based on a first tracking result of the representative vehicle at a first perception cycle and a second tracking result of the representative vehicle at a second perception cycle, the first perception cycle being a perception cycle closest in time to the first time instant during which the representative vehicle can be tracked, the second perception cycle being a perception cycle closest in time to the second time instant during which the representative vehicle can be tracked.
 20. The data processing system of claim 19, wherein the first perception cycle is associated with a third time instant, the second perception cycle is associated with a fourth time instant, the first tracking result of the representative vehicle comprises a first location of the representative vehicle, and the second tracking result of the representative vehicle comprises a second location of the representative vehicle, and wherein the average speed of the representative vehicle is determined as a distance between the first location and the second location divided by a second time period from the third time instant to the fourth time instant. 